Application of intelligent controller in a ball and beam control system. Before obtaining a step response, we must set the physical parameters. Ball and beam control system simulation with simulink grabcad. Parameters of ball and beam system symbol m r d g l jb r description mass of the ball radius of the ball lever arm offset gravitational acceleration length of the beam ball s moment of inertia ball position coordinate beam angle coordinate servo gear angle values 0. Ballbeamsimulinkmodel ball beam pivot point gear ball tracking point lever arm figure6. The main ideas of the paper are to model the ball and beam system considering nonlinear factors and coupling effect and to design proportional integral derivative pid controller to control the ball position. Hence, based on the above features, cdm based pid control strategy is proposed for double integrating unstable ball and beam system. The principle is then applied to the ball and beam system for observation of the slope of the beam from the measurement of the ball position. The obtained simulations were shown in dymola and simulink. Control tutorials for matlab and simulink is a set of modules consisting of control tutorials for matlab and simulink, curriculum for a first course in systems dynamics and control and a set of homework problems and exams for a second course in controls. Pid control of ball and beam systema real time experimentation. Because of its attentiongrabbing nature, educational hardware companies such as quanser build models of the system 1, 2. Ball and beam control system simulation with simulink ball and beam control system simulation with simulink loading. In control technology, the system is open loop unstable because the system output the ball position increases without limit for a.
The design approach for this control consists of two feedback loops. This paper presents the design of a pid controller and two different fuzzy logic controllers of mamdani and sugeno to control the nonlinear model of a ball rolling on a beam using matlab and malab simulink. Ball and beam control system simulation with simulink 3d. Secondly, all torques acting on the beam are summed in order to isolate the input variable voltage. System modeling and simulation provide useful and safe mechanisms for initial controller design. The ball and beam is a very common control theory example. Experimental configuration of vision sensing for the ball and beam control system fig. Simulink modeling section, and can be downloaded by rightclicking here and then selecting save link as. Design, fabrication and control of a ballonbeam balancer system also known as the ball and beam system was my b. Transfer function of the model of the system can be written as fig. Interpolating sliding mode observer for a ball and beam. Slovak university of technology in bratislava institute of. Build a simulink model of the plant and simulate off line.
Mechatronics design of ball and beam system citeseerx. Modelling and control of ball and beam system using coefficient. The feedback sensor of the motor angle was an encoder mounted to the back of the motor, and the sensor for the ball position was a linear potentiometer resistive element. Srv02 ball and beam control laboratory student manual. Insert a transfer function block from the linear block library to the left of the ball and beam block, and connect its output to.
Ballandbeam laboratory system controlled by simulink. Real time control of ball and beam system with model reference adaptive control strategy using mit rule,a in 20 ieee international conference on computational intelligence and computing research, toronto, dec 20 5 z. When the angle is changed from the horizontal position. This was a project for automated control systems course. Abstract one of the most difficult problems that an engineer who works with modeling deals with, is the question about how to translate a physical phenomenon into a set of equations. Ball beam simulink matlab simmechanic solidworks duration. In this paper, a complete physical system and controller design is. Implementation of ball and beam control system as an instance of simulink to 32bit microcontroller interface a ball balancing on a beam is a perfect platform for demonstration various control strategies. The ball moves freely along the length of the beam. The main ideas of the paper are to model the ball and beam system considering nonlinear factors and coupling effect and to design controller to control the ball position. The ball and beam is a very common control theory example problem, and it provides for simple modeling and low project cost. As the servo gear turns by an angle, the lever changes the angle of the beam by.
Control tutorials for matlab and simulink designed to help you learn how to use matlab. Page 7 of 43 2 2 x r j dt d x r j dt d v r j dt dw t f r j b b r rx 4. Implementation of ballandbeam control system as an instance of simulink to 32bit microcontroller interface a ball balancing on a beam is a perfect platform for demonstration various control strategies. Tuning of pid controller for ball and beam system ijert. Pdf the ball and beam is a basic reference point system with high nonlinearity and. Siso systems of the ball on the beam, the first one for an axis x and the second one for an axis y. A simulink diagram illustrating this approach can be seen in figure 2. The control objective is to balance the ball on the top and, at the same time, place the cart in a desired position, usually the middle of the track.
Ballandbeam laboratory system controlled by simulink model through dedicated microcontrolledmatlab data exchange protocol krzysztof nowopolski poznan university of technology 60965 poznan, ul. Experimental control design for ball and beam system by. Ball on plate balancing system progress report for. Train system free body diagram and newtons law model construction running the model obtaining matlab model. A ball is placed on a beam, see figure below, where it is allowed to roll with 1 degree of freedom along the length of the beam. The usual need for the manual conversion of equations to a block.
Ball beamsimulinkmodel ball beam pivot point gear ball tracking point lever arm figure6. This program uses lead compensator and pd to control ball and beam system for a given settling time and percent overshoot. Control of a ball and beam system university of adelaide. As the servo gear turns by an angle theta, the lever changes the angle of the beam by alpha. The cart moves on a pair of tracks horizontally mounted on a heavy support fig. Sensors are placed on one side of the beam to detect the. A lever arm is attached to the beam at one end and a servo gear at the other. The observer dynamics implemented in matlabsimulink real time workshop environment. The ball and beam system can usually be found in most university control labs since it is relatively. Mar 18, 20 the purpose of this app is to allow the user to view an animation of the ball and beam system with the step disturbance response plot. Optimal state feedback control ball and beam by carion pelton 1 objective in this experiment you will build and control a ball and beam system. Modeling and control of the ball and beam process modellering, simulering och reglering av kula pa bom. Ball and beam pid controller using matlab simulink alden welsch. Pdf modelling and control of ball and beam system using pid.
Design, fabrication and control of a ball on beam balancer system also known as the ball and beam system was my b. The ball and beam setup is as displayed in figure 1. A rotating shaft is attached to the beam at its midpoint. The sensor position has been made with a resistive wire. I already have the circuit in simulink that describe this situation, and i already did some shapes in vrealm buildera ball and a beam and with a vr sink block, in simulink, i tried to connect the circuit to the simulation, but i think that im not doing right. Because of its attentiongrabbing nature, educational hardware companies such. Dec 11, 2012 hi, im a portuguese student, and ive a project in one of my classes that involves a ball and beam system. Matlabsimulink software program has been used to plot. Bring up your openloop ball and beam model window or download ours here delete the line which connects the step block to the ball and beam model block. This paper presents ball and beam system, this is laboratory equipment with high nonlinearity in its dynamics. Ball and beam system is one of the control engineering experiment bench marks used to illustrate balancing mechanism of dynamical systems and to apply control theory in lab. Step and load disturbance response of the closedloop system for parameters. The ball and beam system can usually be found in most university control labs since it is relatively easy to build, model and control theoretically.
The linearised model of the ball and beam system using multiple linearisation points is developed. Design and implementation of ball and beam system using pid. Help ball and beam simulink animation matlab answers. Pid controller design for a real time ball and beam system. In general, a dynamic system can be constructed from just basic physical laws. Simulink file that implements a closedloop cascade position controller on the. Camera as position sensor for a ball and beam control system. In simulink, it is very straightforward to represent a physical system or a model. Ball and beam control theory demonstrator swarthmore college.
The observer dynamics implemented in matlab simulink real time workshop environment. Pdf control systems simulation using matlab and simulink. Both the outerloop ball position control and the innerloop servo position control are used in this file. Insert a transfer function block from the linear block library to the left of the ball and beam block, and connect its output to the input of the ball and beam block. The proposed ball and beam visual control system is composed by the following subsystems. Pdf modelling and control of ball and beam system using. Ball and beam control system simulation with simulink. Dec 27, 2014 ball and beam pid controller using matlab simulink alden welsch.
Hi, im a portuguese student, and ive a project in one of my classes that involves a ball and beam system. The ball and beam system is laboratory equipment with high nonlinearity in its dynamics. Modeling and control of the ball and beam process modellering, simulering och reglering av kula pa bom processen. Pingpong ball makes great pid example use arduino for. Ball and plate pid control with 6 dof stewart platform. The system includes a ball, a beam, a motor and several sensors. Ball and beam control with lead compensator and pd file. Tuning of a pid controller for optimal performance of ball. Control of a ball and beam system the university of adelaide. The purpose of this app is to allow the user to view an animation of the ball and beam system with the step disturbance response plot. Matlabsimulink software suite see appendix for details. Pdf modeling and control of ball and beam system using.
Modelling and control of ball and beam system using. Modeling and control of ball and beam system using model based and nonmodel based control approaches article pdf available in international journal on smart sensing and intelligent systems 51. Bb01 control ball and beam position control using quarc student. Pdf fuzzy logic control for a ball and beam system i. Matlab simulink software program has been used to plot. The task is to place ball rolling freely, in a reference position along the beam driven by a motor, rejecting disturbances.
We can modify the setpoint using a linear potentiometer. Among the interesting challenges of such a system is the indirect control of the ball using the angles of the plate. The ballbalancer consists of a moving cart, on top of which a steel ball rolls. Design and implementation of ball and beam system using. The ball balancer consists of a moving cart, on top of which a steel ball rolls. Control tutorials for matlab and simulink is a set of modules consisting of control tutorials for. The closed loop control was implemented using a matlab simulink model and a dspace digital signal processor controller board.
The ball and beam system presents a challenging design and control. This allows the user to see the correlation between the plot and the systems physical response. Get a manual switch from the nonlinear library to connect the signal generator and the. The ball and beam system shown below in figure 1 has the control objective of placing the ball anywhere along the beam by varying the motor voltage. Ball and beam pid controller using matlab simulink youtube. Simulink modeling section, and can be downloaded by rightclicking here and then selecting save link as openloop response. Rolling ball on a beam freebody diagram the inclination is considered the xcoordinate. Parameters of ball and beam system symbol m r d g l jb r description mass of the ball radius of the ball lever arm offset gravitational acceleration length of the beam balls moment of inertia ball position coordinate beam angle coordinate servo gear angle values 0. Simple analytic rules for model reduction and pid controller tuning. Based on the equations of motion, you will build the theoretical nonlinear model in simulink. Simulation of the ball and beam control to ensure that the specifications are met. This is a difficult control task because the ball does not stay in one place on the beam but moves with an acceleration that is proportional to the tilt of the beam.
Modeling and control of ball and beam system using model based and nonmodel based control approaches article pdf available in international journal. Ball on plate balancing system progress report for ecse4962. Ball and beam control system simulation with simulink ball and beam control system simulation with simulink. The basic idea is to use the torque generated from motor to the control the position of the ball on the beam.
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